Knowing the inertia parameters of a grasped object is crucial for dynamics-aware manipulation, especially in space robotics with free-floating bases. This work addresses the problem of estimating the inertia parameters of an unknown target object during manipulation. We apply and extend an existing online identification method by incorporating momentum conservation, enabling its use for the floating-base robots. The proposed method is validated through numerical simulations, and the estimated parameters are compared with ground-truth values. Results demonstrate accurate identification in the scenarios, highlighting the method's applicability to on-orbit servicing and other space missions.

翻译：掌握被抓取物体的惯性参数对于动力学感知操作至关重要，尤其是在具有自由浮动基座的空间机器人领域。本研究解决了在操作过程中估计未知目标物体惯性参数的问题。我们应用并扩展了一种现有的在线辨识方法，通过引入动量守恒原理，使其适用于浮动基座机器人。所提方法通过数值仿真进行了验证，并将估计参数与真实值进行了比较。结果表明该方法在多种场景下均能实现精确辨识，突显了其在在轨服务及其他空间任务中的适用性。